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   <div id="projectname">Aria
   &#160;<span id="projectnumber">2.9.1</span>
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<div class="title">ArActionTriangleDriveTo Class Reference<div class="ingroups"><a class="el" href="group__ActionClasses.html">Predefined ArAction Classes</a></div></div>  </div>
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<p>Action to drive up to a triangle target (e.g. docking station) found from an <a class="el" href="classArLineFinder.html" title="This class finds lines out of any range device with raw readings (lasers for instance) ...">ArLineFinder</a>.  
 <a href="classArActionTriangleDriveTo.html#details">More...</a></p>

<p><code>#include &lt;ArActionTriangleDriveTo.h&gt;</code></p>

<p>Inherits <a class="el" href="classArAction.html">ArAction</a>.</p>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo_1_1Data.html">Data</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This is for some internal debugging, don't try to use it, it won't work in windows (memory allocation issues).  <a href="classArActionTriangleDriveTo_1_1Data.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a1d204c6d37ce38249793cd5407102523"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523">State</a> { <br />
&#160;&#160;<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523a24bdb19b129f2a115e2c3903b388b536">STATE_INACTIVE</a>, 
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523ad31af38c43d69419090e6572a0cea757">STATE_ACQUIRE</a>, 
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523a89e68ff809843d2d4c45b0590a80b40d">STATE_SEARCHING</a>, 
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523a81affe449fce9a2591cbf76060aee04c">STATE_GOTO_APPROACH</a>, 
<br />
&#160;&#160;<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523a6d69f8dc43584477366b335426c3bef0">STATE_ALIGN_APPROACH</a>, 
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523a7eb612668129caadf169231325691219">STATE_GOTO_VERTEX</a>, 
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523acfe8ebd3937a29a03442dfa529794502">STATE_GOTO_FINAL</a>, 
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523aa72cbe81fd9d7b5bb8cea8aec50a3d0c">STATE_ALIGN_FINAL</a>, 
<br />
&#160;&#160;<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523a51396f591ce32b5bfef05152af1f9782">STATE_SUCCEEDED</a>, 
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523ad79b71c54d9dea63ac6d5783bdabeb2b">STATE_FAILED</a>
<br />
 }</td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a919b3ee1d0ed5705562b22c6ce1217b1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a919b3ee1d0ed5705562b22c6ce1217b1"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>activate</b> (void)</td></tr>
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<tr class="memitem:ac123fd24efbab3df33a55cbe5f0ee279"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac123fd24efbab3df33a55cbe5f0ee279"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#ac123fd24efbab3df33a55cbe5f0ee279">ArActionTriangleDriveTo</a> (const char *name=&quot;triangleDriveTo&quot;, double finalDistFromVertex=400, double approachDistFromVertex=1000, double speed=200, double closeDist=100, double acquireTurnSpeed=30)</td></tr>
<tr class="memdesc:ac123fd24efbab3df33a55cbe5f0ee279"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>deactivate</b> (void)</td></tr>
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virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>fire</b> (<a class="el" href="classArActionDesired.html">ArActionDesired</a> currentDesired)</td></tr>
<tr class="separator:a26922716ad5945757bb5249947413632"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af8bca5171adca068b51f15b7523f2d59"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af8bca5171adca068b51f15b7523f2d59"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#af8bca5171adca068b51f15b7523f2d59">getAcquire</a> (void)</td></tr>
<tr class="memdesc:af8bca5171adca068b51f15b7523f2d59"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets if we will turn to see if we can acquire the triangle. <br /></td></tr>
<tr class="separator:af8bca5171adca068b51f15b7523f2d59"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a46ec3a10421362cae3caf69a4ffa0333"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a46ec3a10421362cae3caf69a4ffa0333"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a46ec3a10421362cae3caf69a4ffa0333">getAdjustVertex</a> (void)</td></tr>
<tr class="memdesc:a46ec3a10421362cae3caf69a4ffa0333"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets whether we adjust the vertex or not. <br /></td></tr>
<tr class="separator:a46ec3a10421362cae3caf69a4ffa0333"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad57a8a308dd251836094ca70820c2413"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad57a8a308dd251836094ca70820c2413"></a>
<a class="el" href="classArActionTriangleDriveTo_1_1Data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#ad57a8a308dd251836094ca70820c2413">getData</a> (void)</td></tr>
<tr class="memdesc:ad57a8a308dd251836094ca70820c2413"><td class="mdescLeft">&#160;</td><td class="mdescRight">Interal use only, gets the data we've saved. <br /></td></tr>
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<tr class="memitem:ac0694a8f2dc4299eec4d02af49e4aa35"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ac0694a8f2dc4299eec4d02af49e4aa35"></a>
virtual <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDesired</b> (void)</td></tr>
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<tr class="memitem:a3b1aa642190923b4098b40483e0a252e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a3b1aa642190923b4098b40483e0a252e"></a>
virtual const <a class="el" href="classArActionDesired.html">ArActionDesired</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>getDesired</b> (void) const </td></tr>
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<tr class="memitem:a05c11ffbdb569c31cc74b7105aa49e18"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05c11ffbdb569c31cc74b7105aa49e18"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a05c11ffbdb569c31cc74b7105aa49e18">getFinalDistFromVertex</a> (void)</td></tr>
<tr class="memdesc:a05c11ffbdb569c31cc74b7105aa49e18"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the final distance from vertex. <br /></td></tr>
<tr class="separator:a05c11ffbdb569c31cc74b7105aa49e18"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6c8a336fb37fe00e4bf246a3924203e1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6c8a336fb37fe00e4bf246a3924203e1"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a6c8a336fb37fe00e4bf246a3924203e1">getGotoVertex</a> (void)</td></tr>
<tr class="memdesc:a6c8a336fb37fe00e4bf246a3924203e1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets whether it always goto the vertex and not the point in front. <br /></td></tr>
<tr class="separator:a6c8a336fb37fe00e4bf246a3924203e1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1eceb21d3f0ad041ed9582c72f8281ac"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1eceb21d3f0ad041ed9582c72f8281ac"></a>
double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a1eceb21d3f0ad041ed9582c72f8281ac">getIgnoreTriangleDist</a> (void)</td></tr>
<tr class="memdesc:a1eceb21d3f0ad041ed9582c72f8281ac"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the distance to the triangle at which we start ignoring it. <br /></td></tr>
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<tr class="memitem:a5d45add4822f293fa518a4db55293d1e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5d45add4822f293fa518a4db55293d1e"></a>
<a class="el" href="classArLineFinder.html">ArLineFinder</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a5d45add4822f293fa518a4db55293d1e">getLineFinder</a> (void)</td></tr>
<tr class="memdesc:a5d45add4822f293fa518a4db55293d1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the line finder used. <br /></td></tr>
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<tr class="memitem:af8372345e1e762e08b7a828b8c23ce4c"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af8372345e1e762e08b7a828b8c23ce4c"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#af8372345e1e762e08b7a828b8c23ce4c">getSaveData</a> (void)</td></tr>
<tr class="memdesc:af8372345e1e762e08b7a828b8c23ce4c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal use only, gets if we're saving data or not. <br /></td></tr>
<tr class="separator:af8372345e1e762e08b7a828b8c23ce4c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a813ccec4337ca004a4f23d9fc2ebc911"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a813ccec4337ca004a4f23d9fc2ebc911"></a>
<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523">State</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a813ccec4337ca004a4f23d9fc2ebc911">getState</a> (void)</td></tr>
<tr class="memdesc:a813ccec4337ca004a4f23d9fc2ebc911"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the state. <br /></td></tr>
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<tr class="memitem:aa4394591c5a8d4c2785defbd23a870c9"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa4394591c5a8d4c2785defbd23a870c9"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#aa4394591c5a8d4c2785defbd23a870c9">getUseIgnoreInGotoVertexMode</a> (void)</td></tr>
<tr class="memdesc:aa4394591c5a8d4c2785defbd23a870c9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets if we're ignoring the triangle in goto vertex mode. <br /></td></tr>
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<tr class="memitem:a447cffcffc7df6e23d74c3285c4fcb08"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a447cffcffc7df6e23d74c3285c4fcb08"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a447cffcffc7df6e23d74c3285c4fcb08">getUseLegacyVertexOffset</a> (void)</td></tr>
<tr class="memdesc:a447cffcffc7df6e23d74c3285c4fcb08"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets if we are use the legacy vertex mode or not. <br /></td></tr>
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<tr class="memitem:ad5c3650c7b75e28a7f1ac3f49573933a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad5c3650c7b75e28a7f1ac3f49573933a"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#ad5c3650c7b75e28a7f1ac3f49573933a">getVertexSeen</a> (void)</td></tr>
<tr class="memdesc:ad5c3650c7b75e28a7f1ac3f49573933a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets if we've seen the vertex ever for this attempted drive (it gets reset in searching, but that's the only time, so will only be set once an activation by default (unless setAcquire is called) <br /></td></tr>
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<tr class="memitem:acc76b4012b10a1df2ed4ce5f5683f1b1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acc76b4012b10a1df2ed4ce5f5683f1b1"></a>
int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#acc76b4012b10a1df2ed4ce5f5683f1b1">getVertexUnseenStopMSecs</a> (void)</td></tr>
<tr class="memdesc:acc76b4012b10a1df2ed4ce5f5683f1b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">How long to keep going without having seen the vertex (0 is no timeout) <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a58525f2680ec280dfe49ae352667c138">setAcquire</a> (bool acquire=false)</td></tr>
<tr class="memdesc:a58525f2680ec280dfe49ae352667c138"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets if we will turn to see if we can acquire the triangle. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a6c9e9b76e983f859e4d210f7cdeb7c97">setAdjustVertex</a> (bool adjustVertex)</td></tr>
<tr class="memdesc:a6c9e9b76e983f859e4d210f7cdeb7c97"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets whether we adjust the vertex or not. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#abc529ac734f43c5e10f25b4143461675">setFinalDistFromVertex</a> (double dist)</td></tr>
<tr class="memdesc:abc529ac734f43c5e10f25b4143461675"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the final distance from vertex. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a56a778a38617a6d235c93834d80602ba">setGotoVertex</a> (bool gotoVertex)</td></tr>
<tr class="memdesc:a56a778a38617a6d235c93834d80602ba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets whether it always goto the vertex and not the point in front. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a636749d2060ee0d20cd284a59531aee2">setIgnoreTriangleDist</a> (double dist=250, bool useIgnoreInGotoVertexMode=false)</td></tr>
<tr class="memdesc:a636749d2060ee0d20cd284a59531aee2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the distance to the triangle at which we start ignoring it. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#ae015f564f4139225786bd607cc2ecfdd">setLineFinder</a> (<a class="el" href="classArLineFinder.html">ArLineFinder</a> *lineFinder)</td></tr>
<tr class="memdesc:ae015f564f4139225786bd607cc2ecfdd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the line finder to use. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#acd461418e143bd6627aabc79111e3adc">setLogging</a> (bool logging)</td></tr>
<tr class="memdesc:acd461418e143bd6627aabc79111e3adc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets whether we're logging the driving or not. <br /></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a5421403bdd26881b879c20852370c041">setLogging</a> (void)</td></tr>
<tr class="memdesc:a5421403bdd26881b879c20852370c041"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets whether we're logging the driving or not. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#ab20911f041b16eecec41eb5225766de0">setMaxAngleMisalignment</a> (int maxAngleMisalignment=0)</td></tr>
<tr class="memdesc:ab20911f041b16eecec41eb5225766de0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the maximum angle misalignment from the robot to the triangle line. <br /></td></tr>
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<tr class="memitem:ae9d51b0c840d7faa320efd263ff19b1a"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae9d51b0c840d7faa320efd263ff19b1a"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#ae9d51b0c840d7faa320efd263ff19b1a">setMaxDistBetweenLinePoints</a> (int maxDistBetweenLinePoints=0)</td></tr>
<tr class="memdesc:ae9d51b0c840d7faa320efd263ff19b1a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the maximum distance between points in a line. <br /></td></tr>
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<tr class="memitem:a08e59e9b2380c0895d7344ef530ef731"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a08e59e9b2380c0895d7344ef530ef731"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a08e59e9b2380c0895d7344ef530ef731">setMaxLateralDist</a> (int maxLateralDist=0)</td></tr>
<tr class="memdesc:a08e59e9b2380c0895d7344ef530ef731"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the maximum lateral distance from the robot to the triangle line. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>setParameters</b> (double finalDistFromVertex=400, double approachDistFromVertex=1000, double speed=200, double closeDist=100, double acquireTurnSpeed=30)</td></tr>
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virtual void&#160;</td><td class="memItemRight" valign="bottom"><b>setRobot</b> (<a class="el" href="classArRobot.html">ArRobot</a> *robot)</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a23d6612e6f7609436ef41d532a9b0220">setSaveData</a> (bool saveData)</td></tr>
<tr class="memdesc:a23d6612e6f7609436ef41d532a9b0220"><td class="mdescLeft">&#160;</td><td class="mdescRight">Internal use only, sets if we're saving data or not. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a45a2750de92a6b9d9fa415e64d3532d6">setTriangleParams</a> (double line1Length=254, double angleBetween=135, double line2Length=254)</td></tr>
<tr class="memdesc:a45a2750de92a6b9d9fa415e64d3532d6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the parameter of the triangle we're looking for. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#ac2f3479ce4c81707e439879193b79d7d">setUseLegacyVertexOffset</a> (bool useLegacyVertexOffset)</td></tr>
<tr class="memdesc:ac2f3479ce4c81707e439879193b79d7d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets if we should use the legacy vertex mode or not. <br /></td></tr>
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<tr class="memitem:abbf1a6c65201457e47a7bc7329c4c69b"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="abbf1a6c65201457e47a7bc7329c4c69b"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#abbf1a6c65201457e47a7bc7329c4c69b">setVertexOffset</a> (int localXOffset, int localYOffset, double thOffset)</td></tr>
<tr class="memdesc:abbf1a6c65201457e47a7bc7329c4c69b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the vertex offset. <br /></td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#abf651bd0149476e2370e4f933a33c5f1">setVertexUnseenStopMSecs</a> (int vertexUnseenStopMSecs=4000)</td></tr>
<tr class="memdesc:abf651bd0149476e2370e4f933a33c5f1"><td class="mdescLeft">&#160;</td><td class="mdescRight">How long to keep going without having seen the vertex (0 is no timeout) <br /></td></tr>
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virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a918393a196ca1395951579b8ef2abf08">~ArActionTriangleDriveTo</a> ()</td></tr>
<tr class="memdesc:a918393a196ca1395951579b8ef2abf08"><td class="mdescLeft">&#160;</td><td class="mdescRight">Destructor. <br /></td></tr>
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<tr class="inherit_header pub_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4341cda2464899c839e370b514af929b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a4341cda2464899c839e370b514af929b">ArAction</a> (const char *name, const char *description=&quot;&quot;)</td></tr>
<tr class="memdesc:a4341cda2464899c839e370b514af929b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="memitem:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top">virtual const <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#adf64e5031c86d059500b93f402aa70d9">getArg</a> (int number) const </td></tr>
<tr class="memdesc:adf64e5031c86d059500b93f402aa70d9 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument.  <a href="#adf64e5031c86d059500b93f402aa70d9">More...</a><br /></td></tr>
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<tr class="memitem:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a6620d41b1e490476796696e8a70e7544"></a>
virtual <a class="el" href="classArArg.html">ArArg</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a6620d41b1e490476796696e8a70e7544">getArg</a> (int number)</td></tr>
<tr class="memdesc:a6620d41b1e490476796696e8a70e7544 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the numbered argument. <br /></td></tr>
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<tr class="memitem:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5a19edfe254b794aa2dddb163d095905"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5a19edfe254b794aa2dddb163d095905">getDescription</a> (void) const </td></tr>
<tr class="memdesc:a5a19edfe254b794aa2dddb163d095905 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the long description of the action. <br /></td></tr>
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<tr class="memitem:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a77fd754d342d7662090f462e27971e08"></a>
virtual const char *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a77fd754d342d7662090f462e27971e08">getName</a> (void) const </td></tr>
<tr class="memdesc:a77fd754d342d7662090f462e27971e08 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the name of the action. <br /></td></tr>
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<tr class="memitem:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a512f3a727095b1240f30558d32fe0f5b"></a>
virtual int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a512f3a727095b1240f30558d32fe0f5b">getNumArgs</a> (void) const </td></tr>
<tr class="memdesc:a512f3a727095b1240f30558d32fe0f5b inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Find the number of arguments this action takes. <br /></td></tr>
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<tr class="memitem:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae62a517795a31625bf3a2bb2ea8abac0"></a>
<a class="el" href="classArRobot.html">ArRobot</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ae62a517795a31625bf3a2bb2ea8abac0">getRobot</a> () const </td></tr>
<tr class="memdesc:ae62a517795a31625bf3a2bb2ea8abac0 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Get the robot we are controlling, which was set by <a class="el" href="classArAction.html#a51b27da0403d43cd916cbf49ba7ddc23" title="Sets the robot this action is driving. ">setRobot()</a> <br /></td></tr>
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<tr class="memitem:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a72db278f558206fdec03cbc15ac72104"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a72db278f558206fdec03cbc15ac72104">isActive</a> (void) const </td></tr>
<tr class="memdesc:a72db278f558206fdec03cbc15ac72104 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns whether the action is active or not. <br /></td></tr>
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<tr class="memitem:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5e1aaaf9de9b50f7732043a3772f53d7"></a>
virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a5e1aaaf9de9b50f7732043a3772f53d7">log</a> (bool verbose=true) const </td></tr>
<tr class="memdesc:a5e1aaaf9de9b50f7732043a3772f53d7 inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Log information about this action using <a class="el" href="classArLog.html" title="Logging utility class. ">ArLog</a>. <br /></td></tr>
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<tr class="memitem:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a05bc460d965589515a007f136a03d15a"></a>
virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a05bc460d965589515a007f136a03d15a">~ArAction</a> ()</td></tr>
<tr class="memdesc:a05bc460d965589515a007f136a03d15a inherit pub_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Desructor. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a1d53900c3da4dd6b46cf6c3a82290752"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1d53900c3da4dd6b46cf6c3a82290752"></a>
<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>findPoseFromVertex</b> (double distFromVertex)</td></tr>
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<tr class="memitem:a43188c1bb0883ed472866bdfddb6da1e"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArActionTriangleDriveTo.html#a43188c1bb0883ed472866bdfddb6da1e">findTriangle</a> (bool initial, bool goStraight=false)</td></tr>
<tr class="memdesc:a43188c1bb0883ed472866bdfddb6da1e"><td class="mdescLeft">&#160;</td><td class="mdescRight">This finds our vertex point and angle from vertex.  <a href="#a43188c1bb0883ed472866bdfddb6da1e">More...</a><br /></td></tr>
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<tr class="inherit_header pro_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ad6e1c757a5232752a9b05b18e8ef5091"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#ad6e1c757a5232752a9b05b18e8ef5091">setNextArgument</a> (<a class="el" href="classArArg.html">ArArg</a> const &amp;arg)</td></tr>
<tr class="memdesc:ad6e1c757a5232752a9b05b18e8ef5091 inherit pro_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the argument type for the next argument (must only be used in a constructor!) <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:af3b326a392bbe5b49fc13681586b011e"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="af3b326a392bbe5b49fc13681586b011e"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>myAcquire</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myCloseDist</b></td></tr>
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<a class="el" href="classArActionTriangleDriveTo_1_1Data.html">Data</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myData</b></td></tr>
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<a class="el" href="classArMutex.html">ArMutex</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDataMutex</b></td></tr>
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<a class="el" href="classArActionDesired.html">ArActionDesired</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myDesired</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myFinalDistFromVertex</b></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>myGotLinesCounter</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myGotoVertex</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myIgnoreTriangleDist</b></td></tr>
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<a class="el" href="classArRangeDevice.html">ArRangeDevice</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myLaser</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myLine1Length</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myLine2Length</b></td></tr>
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<a class="el" href="classArLineFinder.html">ArLineFinder</a> *&#160;</td><td class="memItemRight" valign="bottom"><b>myLineFinder</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myLocalXOffset</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myLocalYOffset</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxAngleMisalignment</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxDistBetweenLinePoints</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myMaxLateralDist</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myOriginalAngle</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myPrinting</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>mySaveData</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>mySpeed</b></td></tr>
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<a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523">State</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myState</b></td></tr>
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double&#160;</td><td class="memItemRight" valign="bottom"><b>myThOffset</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myTwoStageApproach</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myUseLegacyVertexOffset</b></td></tr>
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<a class="el" href="classArPose.html">ArPose</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myVertex</b></td></tr>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myVertexSeen</b></td></tr>
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<a class="el" href="classArTime.html">ArTime</a>&#160;</td><td class="memItemRight" valign="bottom"><b>myVertexSeenLast</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myVertexUnseenStopMSecs</b></td></tr>
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<tr class="inherit_header pro_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a70d443457e6f0b80b434530c7d987b3f inherit pro_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a70d443457e6f0b80b434530c7d987b3f"></a>
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bool&#160;</td><td class="memItemRight" valign="bottom"><b>myIsActive</b></td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>myName</b></td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>myNumArgs</b></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pub_static_methods_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:aceff6f8ad785ab52a79c6d847ed0ea61 inherit pub_static_methods_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aceff6f8ad785ab52a79c6d847ed0ea61"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#aceff6f8ad785ab52a79c6d847ed0ea61">getDefaultActivationState</a> (void)</td></tr>
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static void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classArAction.html#a3543892f92fbbfa9bb3f9e0b0d199f51">setDefaultActivationState</a> (bool defaultActivationState)</td></tr>
<tr class="memdesc:a3543892f92fbbfa9bb3f9e0b0d199f51 inherit pub_static_methods_classArAction"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the default activation state for all ArActions. <br /></td></tr>
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<tr class="inherit_header pro_static_attribs_classArAction"><td colspan="2" onclick="javascript:toggleInherit('pro_static_attribs_classArAction')"><img src="closed.png" alt="-"/>&#160;Static Protected Attributes inherited from <a class="el" href="classArAction.html">ArAction</a></td></tr>
<tr class="memitem:a5335a29c1c08e3fa97228635b38986fe inherit pro_static_attribs_classArAction"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a5335a29c1c08e3fa97228635b38986fe"></a>
static bool&#160;</td><td class="memItemRight" valign="bottom"><b>ourDefaultActivationState</b> = true</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Action to drive up to a triangle target (e.g. docking station) found from an <a class="el" href="classArLineFinder.html" title="This class finds lines out of any range device with raw readings (lasers for instance) ...">ArLineFinder</a>. </p>
<p>This action uses <a class="el" href="classArLineFinder.html" title="This class finds lines out of any range device with raw readings (lasers for instance) ...">ArLineFinder</a> to find continuous "lines" in laser range finder data that meet at an angle, forming the point of a triangular shape, towards which the robot is driven and aligned. If an <a class="el" href="classArLineFinder.html" title="This class finds lines out of any range device with raw readings (lasers for instance) ...">ArLineFinder</a> object is not given in the constructor, then it will search for an <a class="el" href="classArRangeDevice.html" title="The base class for all sensing devices which return range information from the device (mounted on a r...">ArRangeDevice</a> on the <a class="el" href="classArRobot.html" title="Central class for communicating with and operating the robot. ">ArRobot</a> with a name "laser" and create its own <a class="el" href="classArLineFinder.html" title="This class finds lines out of any range device with raw readings (lasers for instance) ...">ArLineFinder</a> object using that range device.</p>
<p>The parameters describing the shape of the triangle target may be set with <a class="el" href="classArActionTriangleDriveTo.html#a45a2750de92a6b9d9fa415e64d3532d6" title="Sets the parameter of the triangle we&#39;re looking for. ">setTriangleParams()</a>. The default values are for a trianrgle target consisting of two lines of at least 254 mm. meeting at a 135 degree angle. This is the shape of the triangular target on docking stations. Targets also may easily be constructed out of any material well-sensed by the SICK Laser, such as wood, cardboard, or metal.</p>
<p>If setTwoStageApproach() is called with true (default) it will first drive to a half meter away from the desired spot (distFromVertex from the point of the vertex along the bisection of the angle between segments) and then after it reachs that point it will turn in towards the vertex and drive to the final spot. If setTwoStageApproach() is called with false it'll just drive to the final spot. It will stop at closeDist away unless a large turn is required where it'll stop 2 * closeDist away. It drives in at the speed given in the constructor. If the robot is closer to the vertex than it should be for the approach it'll skip the approach, if the robot is closer to the vertex than to the final spot it will back up (if its facing away from the vertex it won't see the vertex).</p>
<p>If you want the action to drive straight to the vertex instead of to a point in front of it call <a class="el" href="classArActionTriangleDriveTo.html#a56a778a38617a6d235c93834d80602ba" title="Sets whether it always goto the vertex and not the point in front. ">setGotoVertex()</a> with a true argument... It will no longer do this if finalDistFromVertex is 0... you would do this if you want to drive until a bumper is hit for instance.</p>
<p>If you want the action to position using the front of the robot then use setPositionFront(). </p>
<dl><dt><b>Examples: </b></dt><dd><a class="el" href="triangleDriveToActionExample_8cpp-example.html#_a18">triangleDriveToActionExample.cpp</a>.</dd>
</dl></div><h2 class="groupheader">Member Enumeration Documentation</h2>
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          <td class="memname">enum <a class="el" href="classArActionTriangleDriveTo.html#a1d204c6d37ce38249793cd5407102523">ArActionTriangleDriveTo::State</a></td>
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523a24bdb19b129f2a115e2c3903b388b536"></a>STATE_INACTIVE&#160;</td><td class="fielddoc">
<p>we aren't trying </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523ad31af38c43d69419090e6572a0cea757"></a>STATE_ACQUIRE&#160;</td><td class="fielddoc">
<p>finding the target </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523a89e68ff809843d2d4c45b0590a80b40d"></a>STATE_SEARCHING&#160;</td><td class="fielddoc">
<p>Turning trying to find the target. </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523a81affe449fce9a2591cbf76060aee04c"></a>STATE_GOTO_APPROACH&#160;</td><td class="fielddoc">
<p>driving to the approach point </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523a6d69f8dc43584477366b335426c3bef0"></a>STATE_ALIGN_APPROACH&#160;</td><td class="fielddoc">
<p>aligning to the target the first time </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523a7eb612668129caadf169231325691219"></a>STATE_GOTO_VERTEX&#160;</td><td class="fielddoc">
<p>driving to the vertex </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523acfe8ebd3937a29a03442dfa529794502"></a>STATE_GOTO_FINAL&#160;</td><td class="fielddoc">
<p>driving to the final point </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523aa72cbe81fd9d7b5bb8cea8aec50a3d0c"></a>STATE_ALIGN_FINAL&#160;</td><td class="fielddoc">
<p>aligning to the target the final time </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523a51396f591ce32b5bfef05152af1f9782"></a>STATE_SUCCEEDED&#160;</td><td class="fielddoc">
<p>pointing at the target </p>
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<tr><td class="fieldname"><a class="anchor" id="a1d204c6d37ce38249793cd5407102523ad79b71c54d9dea63ac6d5783bdabeb2b"></a>STATE_FAILED&#160;</td><td class="fielddoc">
<p>if we're not acquiring and we lost the vertex we fail </p>
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<h2 class="groupheader">Member Function Documentation</h2>
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          <td class="memname">void ArActionTriangleDriveTo::findTriangle </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>initial</em>, </td>
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          <td class="paramtype">bool&#160;</td>
          <td class="paramname"><em>goStraight</em> = <code>false</code>&#160;</td>
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          <td>)</td>
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<span class="mlabels"><span class="mlabel">protected</span></span>  </td>
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<p>This finds our vertex point and angle from vertex. </p>
<p>difference between line1 and how long it should be</p>
<p>difference between line2 and how long it should be </p>

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<hr/>The documentation for this class was generated from the following files:<ul>
<li>ArActionTriangleDriveTo.h</li>
<li>ArActionTriangleDriveTo.cpp</li>
</ul>
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